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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0695118b3b27d100933d16472a5a2e05.html">include</a></li><li class="navelem"><a class="el" href="dir_d28884e0e9991dd74831dd1628ef4f1a.html">collision</a></li><li class="navelem"><a class="el" href="dir_e6ad0a15879717e90bb3edf6e9f68e2c.html">narrowphase</a></li>  </ul>
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<div class="title">rectangle_aabb.h</div>  </div>
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<a href="rectangle__aabb_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef RECTANGLE_AABB_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define RECTANGLE_AABB_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape_8h.html">collision/narrowphase/shape.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="line__segment_8h.html">collision/line_segment.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_a_a_b_b.html">   18</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_shape.html">Shape</a> {</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_a_a_b_b.html#aad1af404ee7a48c7e93e97c91d5b4862">   23</a></span>&#160;  <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#aad1af404ee7a48c7e93e97c91d5b4862">RectangleAABB</a>(<span class="keywordtype">double</span> _rx, <span class="keywordtype">double</span> _ry,</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                <span class="keyword">const</span> Eigen::Vector2d &amp;_center = Eigen::Vector2d(0, 0))</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      : <a class="code" href="classcollision_1_1_shape.html">Shape</a>(_center), <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a76e266f4f114540d4f93c65d01a06063">r_</a>(_rx, _ry) {</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#ad345a866980b55e30c678c9b4a9a9792">min_</a> = <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a> - <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a76e266f4f114540d4f93c65d01a06063">r_</a>;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a2e0a58c78ee85ff8a2455bb9ef94269c">max_</a> = <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a> + <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a76e266f4f114540d4f93c65d01a06063">r_</a>;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5f83a070e41a24b89dba36b187c35add">segments_</a>.push_back(</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        <a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#ad345a866980b55e30c678c9b4a9a9792">min_</a>, Eigen::Vector2d(<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#ad345a866980b55e30c678c9b4a9a9792">min_</a>.x() + 2 * _rx, <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#ad345a866980b55e30c678c9b4a9a9792">min_</a>.y())));</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5f83a070e41a24b89dba36b187c35add">segments_</a>.push_back(</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        <a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#ad345a866980b55e30c678c9b4a9a9792">min_</a>, Eigen::Vector2d(<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#ad345a866980b55e30c678c9b4a9a9792">min_</a>.x(), <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#ad345a866980b55e30c678c9b4a9a9792">min_</a>.y() + 2 * _ry)));</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5f83a070e41a24b89dba36b187c35add">segments_</a>.push_back(</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        <a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a2e0a58c78ee85ff8a2455bb9ef94269c">max_</a>, Eigen::Vector2d(<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a2e0a58c78ee85ff8a2455bb9ef94269c">max_</a>.x(), <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a2e0a58c78ee85ff8a2455bb9ef94269c">max_</a>.y() - 2 * _ry)));</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5f83a070e41a24b89dba36b187c35add">segments_</a>.push_back(</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a2e0a58c78ee85ff8a2455bb9ef94269c">max_</a>, Eigen::Vector2d(<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a2e0a58c78ee85ff8a2455bb9ef94269c">max_</a>.x() - 2 * _rx, <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a2e0a58c78ee85ff8a2455bb9ef94269c">max_</a>.y())));</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  }</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#aeeb75b451a91b486ba8d1e6ab9b0ee53">rayTrace</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;point1, <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                std::vector&lt;LineSegment&gt; &amp;intersect) <span class="keyword">const override</span>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_a_a_b_b.html#af309fff2e1b95ea1ede320f8bf0b5d10">   41</a></span>&#160;  <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#af309fff2e1b95ea1ede320f8bf0b5d10">~RectangleAABB</a>() {}</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="classcollision_1_1serialize_1_1_i_collision_object_export.html">serialize::ICollisionObjectExport</a> *exportThis(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#aad1af404ee7a48c7e93e97c91d5b4862">RectangleAABB</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;copy);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> *<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a8ff55c0205cb596a6606d733b4fe7640">clone</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a86d3fdaa0140e5d36b3e0c8f00052cec">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_a_a_b_b.html#ade5b54661bfddda7f330ec0a435e5a80">   51</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#ade5b54661bfddda7f330ec0a435e5a80">getCollisionObjectType</a>()<span class="keyword"> const override </span>{</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">CollisionObjectType::OBJ_TYPE_AABB_BOX</a>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  }</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a1ca98dec27c71f4bdc8e7776226fed41">type</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a606d3a5c1ca0f607ab2419f46caffcca">r</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a606d3a5c1ca0f607ab2419f46caffcca">r</a>(<span class="keywordtype">int</span> i) <span class="keyword">const</span>;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5192f1f870c35a9b607ac7cdc36a4a34">r_x</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a10f1ed5c2b164821f0f876d0345e2a01">r_y</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a3526b885eeb118a630d3a4aeb8476cb6">min</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a0282f6f354fcf08e35e4373183374c4e">max</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a> *</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a0d752a553b92084937addde6c230c236">createFCLCollisionGeometry</a>(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a6ab7ed9151608c2f2e2ca267ea94c2dc">createFCLCollisionObject</a>(</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">const</span> std::shared_ptr&lt;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a>&gt; &amp;col_geom)</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">const override</span>;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#acd455d30d34c8c026413277145f21cd9">set_center</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_center);</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#af6d49b29e274979677e934a8e73dc8b7">set_r</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_r);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a9098c4069f72f39a73705267f542d28f">set_r_x</a>(<span class="keywordtype">double</span> _r_x);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5ed302679b97d7ad4371aba5c2eb5108">set_r_y</a>(<span class="keywordtype">double</span> _r_y);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a87961e2c2db8195f19fb7c2103ea6866">set_all</a>(<span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5192f1f870c35a9b607ac7cdc36a4a34">r_x</a>, <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a10f1ed5c2b164821f0f876d0345e2a01">r_y</a>, <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">center_x</a>, <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">center_y</a>);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">//</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// @brief Computes the square distance between a point and</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="comment">//        the rectangle boundary. From:</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="comment">//        C. Ericson, Real-Time Collision Detection, pp. 131, 2004</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">// @param p Point</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="comment">//</span></div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#ad0ead3fda21c468d128748c5a7aa1aa3">squareDisToPoint</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;p) <span class="keyword">const</span>;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_a_a_b_b.html#a2c6bd5f8358ab423ea69938af41028a4">   84</a></span>&#160;  std::vector&lt;LineSegment&gt; <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a2c6bd5f8358ab423ea69938af41028a4">segments</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5f83a070e41a24b89dba36b187c35add">segments_</a>; };</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="comment">// Center-radius representation</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="comment">//  ----------- max</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="comment">//  |    |ry  |</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="comment">//  |   c|____|</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="comment">//  |     ry  |</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="comment">//  |         |</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">//  -----------</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">// min</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="comment">//</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">Shape::center_</a>;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">Shape::radius_</a>;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_a_a_b_b.html#a76e266f4f114540d4f93c65d01a06063">  100</a></span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a76e266f4f114540d4f93c65d01a06063">r_</a>;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_a_a_b_b.html#ad345a866980b55e30c678c9b4a9a9792">  103</a></span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#ad345a866980b55e30c678c9b4a9a9792">min_</a>;</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_a_a_b_b.html#a2e0a58c78ee85ff8a2455bb9ef94269c">  104</a></span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a2e0a58c78ee85ff8a2455bb9ef94269c">max_</a>;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_a_a_b_b.html#a5f83a070e41a24b89dba36b187c35add">  106</a></span>&#160;  std::vector&lt;LineSegment&gt; <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5f83a070e41a24b89dba36b187c35add">segments_</a>;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_a_a_b_b.html#a594e3bfd2ba24ba304395a021c9ec4a0">  108</a></span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a594e3bfd2ba24ba304395a021c9ec4a0">type_</a> = <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a122284f5707e6b7aa22ff002b69e0008">TYPE_RECTANGLE_AABB</a>;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;};</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">collision::OBJ_TYPE_AABB_BOX</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00018">collision_object_types.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_ab453849fed42ee9769df87210ca5262d"><div class="ttname"><a href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">collision::Shape::radius_</a></div><div class="ttdeci">double radius_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00072">shape.h:72</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_af6d49b29e274979677e934a8e73dc8b7"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#af6d49b29e274979677e934a8e73dc8b7">collision::RectangleAABB::set_r</a></div><div class="ttdeci">void set_r(const Eigen::Vector2d &amp;_r)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00077">rectangle_aabb.cc:77</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_af309fff2e1b95ea1ede320f8bf0b5d10"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#af309fff2e1b95ea1ede320f8bf0b5d10">collision::RectangleAABB::~RectangleAABB</a></div><div class="ttdeci">~RectangleAABB()</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00041">rectangle_aabb.h:41</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a76e266f4f114540d4f93c65d01a06063"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a76e266f4f114540d4f93c65d01a06063">collision::RectangleAABB::r_</a></div><div class="ttdeci">Eigen::Vector2d r_</div><div class="ttdoc">Positive halfwidth extents of OBB along each axis (rx, ry)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00100">rectangle_aabb.h:100</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_ad0ead3fda21c468d128748c5a7aa1aa3"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#ad0ead3fda21c468d128748c5a7aa1aa3">collision::RectangleAABB::squareDisToPoint</a></div><div class="ttdeci">double squareDisToPoint(const Eigen::Vector2d &amp;p) const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00123">rectangle_aabb.cc:123</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a606d3a5c1ca0f607ab2419f46caffcca"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a606d3a5c1ca0f607ab2419f46caffcca">collision::RectangleAABB::r</a></div><div class="ttdeci">Eigen::Vector2d r() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00064">rectangle_aabb.cc:64</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">collision::CollisionObjectType</a></div><div class="ttdeci">CollisionObjectType</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00016">collision_object_types.h:16</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a86d3fdaa0140e5d36b3e0c8f00052cec"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a86d3fdaa0140e5d36b3e0c8f00052cec">collision::RectangleAABB::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const</div><div class="ttdoc">Print all parameters of the shape.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00053">rectangle_aabb.cc:53</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a2e0a58c78ee85ff8a2455bb9ef94269c"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a2e0a58c78ee85ff8a2455bb9ef94269c">collision::RectangleAABB::max_</a></div><div class="ttdeci">Eigen::Vector2d max_</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00104">rectangle_aabb.h:104</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_aeeb75b451a91b486ba8d1e6ab9b0ee53"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#aeeb75b451a91b486ba8d1e6ab9b0ee53">collision::RectangleAABB::rayTrace</a></div><div class="ttdeci">bool rayTrace(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; LineSegment &gt; &amp;intersect) const override</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00024">rectangle_aabb.cc:24</a></div></div>
<div class="ttc" id="line__segment_8h_html"><div class="ttname"><a href="line__segment_8h.html">line_segment.h</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_geometry_html"><div class="ttname"><a href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object_8h_source.html#l00010">i_fcl_collision_object.h:10</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a8ff55c0205cb596a6606d733b4fe7640"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a8ff55c0205cb596a6606d733b4fe7640">collision::RectangleAABB::clone</a></div><div class="ttdeci">RectangleAABB * clone() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00040">rectangle_aabb.cc:40</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_ad345a866980b55e30c678c9b4a9a9792"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#ad345a866980b55e30c678c9b4a9a9792">collision::RectangleAABB::min_</a></div><div class="ttdeci">Eigen::Vector2d min_</div><div class="ttdoc">Min-Max Points on rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00103">rectangle_aabb.h:103</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a6ab7ed9151608c2f2e2ca267ea94c2dc"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a6ab7ed9151608c2f2e2ca267ea94c2dc">collision::RectangleAABB::createFCLCollisionObject</a></div><div class="ttdeci">fcl::CollisionObject&lt; FCL_PRECISION &gt; * createFCLCollisionObject(const std::shared_ptr&lt; fcl::CollisionGeometry&lt; FCL_PRECISION &gt;&gt; &amp;col_geom) const override</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00016">rectangle_aabb.cc:16</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a3526b885eeb118a630d3a4aeb8476cb6"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a3526b885eeb118a630d3a4aeb8476cb6">collision::RectangleAABB::min</a></div><div class="ttdeci">Eigen::Vector2d min() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00060">rectangle_aabb.cc:60</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a0d752a553b92084937addde6c230c236"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a0d752a553b92084937addde6c230c236">collision::RectangleAABB::createFCLCollisionGeometry</a></div><div class="ttdeci">fcl::CollisionGeometry&lt; FCL_PRECISION &gt; * createFCLCollisionGeometry(void) const override</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00013">rectangle_aabb.cc:13</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a9098c4069f72f39a73705267f542d28f"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a9098c4069f72f39a73705267f542d28f">collision::RectangleAABB::set_r_x</a></div><div class="ttdeci">void set_r_x(double _r_x)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00095">rectangle_aabb.cc:95</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3a122284f5707e6b7aa22ff002b69e0008"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a122284f5707e6b7aa22ff002b69e0008">collision::TYPE_RECTANGLE_AABB</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00014">shape.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1serialize_1_1_i_collision_object_export_html"><div class="ttname"><a href="classcollision_1_1serialize_1_1_i_collision_object_export.html">collision::serialize::ICollisionObjectExport</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__object__export_8h_source.html#l00008">i_collision_object_export.h:8</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a5ed302679b97d7ad4371aba5c2eb5108"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a5ed302679b97d7ad4371aba5c2eb5108">collision::RectangleAABB::set_r_y</a></div><div class="ttdeci">void set_r_y(double _r_y)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00102">rectangle_aabb.cc:102</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a1ca98dec27c71f4bdc8e7776226fed41"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a1ca98dec27c71f4bdc8e7776226fed41">collision::RectangleAABB::type</a></div><div class="ttdeci">ShapeType type() const</div><div class="ttdoc">Get shape type.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00051">rectangle_aabb.cc:51</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_ade5b54661bfddda7f330ec0a435e5a80"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#ade5b54661bfddda7f330ec0a435e5a80">collision::RectangleAABB::getCollisionObjectType</a></div><div class="ttdeci">virtual CollisionObjectType getCollisionObjectType() const override</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00051">rectangle_aabb.h:51</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a87961e2c2db8195f19fb7c2103ea6866"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a87961e2c2db8195f19fb7c2103ea6866">collision::RectangleAABB::set_all</a></div><div class="ttdeci">void set_all(double r_x, double r_y, double center_x, double center_y)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00109">rectangle_aabb.cc:109</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a10f1ed5c2b164821f0f876d0345e2a01"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a10f1ed5c2b164821f0f876d0345e2a01">collision::RectangleAABB::r_y</a></div><div class="ttdeci">double r_y() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00086">rectangle_aabb.cc:86</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a></div><div class="ttdoc">Axis-aligned rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00018">rectangle_aabb.h:18</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">collision::ShapeType</a></div><div class="ttdeci">ShapeType</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00012">shape.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_line_segment_html"><div class="ttname"><a href="classcollision_1_1_line_segment.html">collision::LineSegment</a></div><div class="ttdef"><b>Definition:</b> <a href="line__segment_8h_source.html#l00019">line_segment.h:19</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_aad1af404ee7a48c7e93e97c91d5b4862"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#aad1af404ee7a48c7e93e97c91d5b4862">collision::RectangleAABB::RectangleAABB</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW RectangleAABB(double _rx, double _ry, const Eigen::Vector2d &amp;_center=Eigen::Vector2d(0, 0))</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00023">rectangle_aabb.h:23</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00024">shape.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a5f83a070e41a24b89dba36b187c35add"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a5f83a070e41a24b89dba36b187c35add">collision::RectangleAABB::segments_</a></div><div class="ttdeci">std::vector&lt; LineSegment &gt; segments_</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00106">rectangle_aabb.h:106</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a594e3bfd2ba24ba304395a021c9ec4a0"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a594e3bfd2ba24ba304395a021c9ec4a0">collision::RectangleAABB::type_</a></div><div class="ttdeci">static constexpr ShapeType type_</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00108">rectangle_aabb.h:108</a></div></div>
<div class="ttc" id="shape_8h_html"><div class="ttname"><a href="shape_8h.html">shape.h</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a690571543f14979499df6fbada671f1f"><div class="ttname"><a href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">collision::Shape::center_x</a></div><div class="ttdeci">double center_x() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00018">shape.cc:18</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a2c6bd5f8358ab423ea69938af41028a4"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a2c6bd5f8358ab423ea69938af41028a4">collision::RectangleAABB::segments</a></div><div class="ttdeci">std::vector&lt; LineSegment &gt; segments(void) const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00084">rectangle_aabb.h:84</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aabac3270d60bb5affed693af36fd39d8"><div class="ttname"><a href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">collision::Shape::center_y</a></div><div class="ttdeci">double center_y() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00020">shape.cc:20</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a3a397b619573e160d18954605a11f7bd"><div class="ttname"><a href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">collision::Shape::center_</a></div><div class="ttdeci">Eigen::Vector2d center_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00071">shape.h:71</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a5192f1f870c35a9b607ac7cdc36a4a34"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a5192f1f870c35a9b607ac7cdc36a4a34">collision::RectangleAABB::r_x</a></div><div class="ttdeci">double r_x() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00084">rectangle_aabb.cc:84</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a0282f6f354fcf08e35e4373183374c4e"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a0282f6f354fcf08e35e4373183374c4e">collision::RectangleAABB::max</a></div><div class="ttdeci">Eigen::Vector2d max() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00062">rectangle_aabb.cc:62</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_acd455d30d34c8c026413277145f21cd9"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#acd455d30d34c8c026413277145f21cd9">collision::RectangleAABB::set_center</a></div><div class="ttdeci">void set_center(const Eigen::Vector2d &amp;_center)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00088">rectangle_aabb.cc:88</a></div></div>
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